ElmoMC SimplIQ Software Manual - Manual (Page 172)

SimplIQ Software Manual The Position Reference Generator
MAN-SIMSW (Ver. 1.4)
11-31
0 0.005 0.01 0.015 0.02 0.025 0.03
0
200
400
600
800
1000
1200
1400
1600
1800
Time
PY - Auxiliary Position
DV[6] - External Position Reference
FR[3]=1
FR[3]=2
FR[3]
changes
Figure 11-14: Follower Ratio
Example:
This example illustrates how a moving object is handled by the application:
X axis
Y a
x
is
Moving conveyer
Cake
Circle to
draw
10000
In this application, an x-y stage draws a chocolate picture on a cake while the cake travels
on a conveyor. The drawing must be accurate with respect to the cake.
In order to draw a circle of radius 10,000 encoder counts on the cake in one second, the
x-axis motor must follow the trajectory:
x(t) = 10,000 * cos(2πt) + c(t)
where c(t) is the position of the conveyor.
If the conveyor has an encoder, it can be used to compensate for its motion.